#ifndef KALMAN_FUSEGPS_H
#define KALMAN_FUSEGPS_H

/* Include Files */
#include "kalman_type.h"
#include "trigonometric.h"
#include <stddef.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>



#ifdef __cplusplus
extern "C" {
#endif

/* Function Declarations */
void kalman_fusegps_initialize(void);
void kalman_fusegps_terminate(void);
	
extern void kalman_fusegps( kalman_data *obj, double lla[3],
                           double Rpos,  double vel[3], double Rvel,
                           double res[6], double resCov[36]);

#ifdef __cplusplus
}
#endif

#endif
